Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <GCS_MAVLink/GCS.h>
       4             : #include "GCS_MAVLink_Sub.h"
       5             : 
       6             : class GCS_Sub : public GCS
       7             : {
       8             :     friend class Sub; // for access to _chan in parameter declarations
       9             : 
      10             : public:
      11             : 
      12             :     // the following define expands to a pair of methods to retrieve a
      13             :     // pointer to an object of the correct subclass for the link at
      14             :     // offset ofs.  These are of the form:
      15             :     // GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override;
      16             :     // const GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override const;
      17    55982953 :     GCS_MAVLINK_CHAN_METHOD_DEFINITIONS(GCS_MAVLINK_Sub);
      18             : 
      19             :     void update_vehicle_sensor_status_flags() override;
      20             : 
      21             :     uint32_t custom_mode() const override;
      22             :     MAV_TYPE frame_type() const override;
      23             : 
      24             :     bool vehicle_initialised() const override;
      25             : 
      26             : protected:
      27             : 
      28             :     // minimum amount of time (in microseconds) that must remain in
      29             :     // the main scheduler loop before we are allowed to send any
      30             :     // mavlink messages.  We want to prioritise the main flight
      31             :     // control loop over communications
      32     9453430 :     uint16_t min_loop_time_remaining_for_message_send_us() const override {
      33     9453430 :         return 250;
      34             :     }
      35             : 
      36         257 :     GCS_MAVLINK_Sub *new_gcs_mavlink_backend(AP_HAL::UARTDriver &uart) override {
      37         257 :         return NEW_NOTHROW GCS_MAVLINK_Sub(uart);
      38             :     }
      39             : 
      40             : };